Safe Navigation in Dynamic Urban Environments: a Hierarchical Approach (CROSBI ID 550396)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Macek, Kristijan ; Vasquez, Dizan ; Fraichard, Thierry ; Siegwart, Roland
engleski
Safe Navigation in Dynamic Urban Environments: a Hierarchical Approach
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a hierarchical fashion: (a) the Route Plan- ner whose purpose is to compute a valid itinerary towards the a given goal. An itinerary comprises a geometric path augmented with additional information based on the structure of the environment considered and traf?c regulations, and (b) the Partial Motion Planner whose purpose is to ensure the proper following of the itinerary while dealing with the moving objects present in the environment (eg other vehicles, pedestrians). In the architecture proposed, a special attention is paid to the motion safety issue, ie the ability to avoid collisions. Different safety levels are explored and their operational conditions are explicitly spelled out (something which is usually not done).
Vehicle Navigation; Dynamic Urban Environments; Hierarchical Planning
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Podaci o prilogu
2008.
objavljeno
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
IEEE International Conference on Intelligent RObots Systems (IROS 2008) - 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV
predavanje
22.09.2008-26.09.2008
Nica, Francuska